Four-footed walking robot in compound driving mode

Abstract

The invention discloses a four-footed walking robot platform which is provided with a driving power via cam rigidity by an internal-combustion engine and is provided with a swerving power by a servo motor system and the balanced stance of which is regulated. A compound driving mode is established by finding a high efficient walking mode of combining the power technique of current car, tank and tractor with the technique of modern computer and robot technique based on the research result of the current multi-footed robot. 99% of driving power for the robot straightly walking on flat road is provided by the internal-combustion engine. When rugged road appears or the robot needs to swerve, the motor system regulates the balanced stance and finishes the swerving task. The robot of the invention not only can decrease the power of the motor system, lighten the self-weight, lower the use frequency of the motor system and prolong the service life of a screw rod, but also can completely imitate the four-footed animals, can realize continuous, smooth, stable, powerful and efficient walking and can continuously work for a long time in a complex environment.

Description

technical field [0001] The invention relates to a robot structure, specifically a multi-legged robot structure. Background technique [0002] The mobile modes of robots or vehicles mainly include wheeled, crawler, striding and hybrid. Among them, the wheeled and crawler-type mobile modes are restricted by the environment, and the working range is relatively small. Pedestrian robots or vehicles that walk on strides can replace wheeled and tracked robots or vehicles to complete tasks in complex environments, and can also save energy; there is an increasing need for multi-legged walking vehicles or robots to meet people's special needs and improve transportation tools. The ability to pass through rough roads or roadless conditions, or engage in some work that the human body cannot do by itself, from the ancient "wooden cow and horse" to the modern American Boston Dynamics developed a four-legged walking called "big dog". The robot, which is designed for the U.S. military, is ...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the multi-legged walking vehicles or robots are driven by multiple electric motors or hydraulically driven, and completely rely on the robots driven by multiple electric motors. The weight is heavy, and its kinetic energy is converted from electric energy. Can not work continuously for a long time in the actual operation process, completely rely on the same low hydraulic drive energy utilization rate, self-heavy; existing multi-legged walking vehicles with striding travel have the following common shortcomings: (1), transmission efficiency in the actual operation process (2) Insufficient power during actual operation; (3) Cannot fully imitate quadrupeds in nature to achieve coherent, smooth and smooth walking

(4) Energy supply is inconvenient, and it cannot work continuously for a long time during actual operation

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